| Industrial robots possess the property of stable running speed, high precision and theability to adapt to the environment and their market prospect is very broad. The roboticcontrol system is the command center of the robotic system. Therefore the robot controlsystem must achieve the demand that high reliability, full-featured, fast response. The paperfirst analyzes the status and trends of industrial robot control system, then set up the industrialrobot control system hardware platform, and design the robot control system software. Finally,we discuss the mathod to reduce industrial robot systems running error from controlperspective.Firstly, the robot’s forward kinematics model and inverse kinematics model wasestablished. The kinematic model is the theoretical basis of motion control of industrial robots,and it is the theory and algorithms foundation of control system software.Secondly，the hardware part of the control system was designed. Design the entire ofcontrol systems at first. The type of the main components was selected. The motion controllerselected the CLIPPER PMAC. The servo system was Panasonic A4series drive and the motor.After the teach pendant hardware circuit and production of circuit boards were designed. Thecontrol system used mainstream configuration of the robot industry and technology, openness,and designed dedicated circuits to eliminate interference to improve system reliability.Afterward, the software of the control system was designed. Control system softwareincludes PC software, PMAC software and the program of teach pendant. Detailed designedteach pendant features, and wrote the teach pendant program in the microcontroller. PMACsoftware was designed which including robot motion programs and PLC program. Robotcontrol system software is designed basic of modular and hierarchical those possess clearstructure, easy to modify and subsequent upgrade and maintenance; various functionalmodules are relatively independent, thus it is easy to debug and write.Finally, investigate the ways to reduce the industrial robot system error from the controlpoint of view. Manually set the PID parameters, used the methods provided by the PMACitself to reduce the error. PMAC motion controller through the automatic mode and manuallyadjust the PID parameters to reduce the error, introduced fuzzy control theory to furtherreduce the error. Taked the arc trajectory as an example, collection and analysis of motion‘serror curve. By contrast, it is confirmed that this is an effective method to eliminate errors. |
PDF Full Text Request